// g2o - General Graph Optimization
// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
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#ifndef G2O_EDGE_SE2_SEGMENT2D_POINTLINE_H
#define G2O_EDGE_SE2_SEGMENT2D_POINTLINE_H

#include "g2o/config.h"
#include "g2o/core/base_binary_edge.h"
#include "g2o/types/slam2d/vertex_se2.h"
#include "g2o_types_slam2d_addons_api.h"
#include "vertex_segment2d.h"

namespace g2o {

class G2O_TYPES_SLAM2D_ADDONS_API EdgeSE2Segment2DPointLine
    : public BaseBinaryEdge<3, Vector3, VertexSE2, VertexSegment2D> {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  EdgeSE2Segment2DPointLine();

  number_t theta() const { return _measurement[2]; }
  Vector2 point() const {
    Eigen::Map<const Vector2> p(&_measurement[0]);
    return p;
  }

  void setTheta(number_t t) { _measurement[2] = t; }
  void setPoint(const Vector2& p_) {
    Eigen::Map<Vector2> p(&_measurement[0]);
    p = p_;
  }

  int pointNum() const { return _pointNum; }
  void setPointNum(int pn) { _pointNum = pn; }

  void computeError() {
    const VertexSE2* v1 = static_cast<const VertexSE2*>(_vertices[0]);
    const VertexSegment2D* l2 =
        static_cast<const VertexSegment2D*>(_vertices[1]);
    SE2 iEst = v1->estimate().inverse();
    Vector2 predP1 = iEst * l2->estimateP1();
    Vector2 predP2 = iEst * l2->estimateP2();
    Vector2 dP = predP2 - predP1;
    Vector2 normal(dP.y(), -dP.x());
    normal.normalize();
    Vector3 prediction;
    prediction[2] = std::atan2(normal.y(), normal.x());
    Eigen::Map<Vector2> pt(&prediction[0]);
    pt = (_pointNum == 0) ? predP1 : predP2;
    _error = prediction - _measurement;
    _error[2] = normalize_theta(_error[2]);
  }

  virtual bool setMeasurementData(const number_t* d) {
    Eigen::Map<const Vector3> data(d);
    _measurement = data;
    return true;
  }

  virtual bool getMeasurementData(number_t* d) const {
    Eigen::Map<Vector3> data(d);
    data = _measurement;
    return true;
  }

  virtual int measurementDimension() const { return 3; }

  virtual bool setMeasurementFromState() {
    const VertexSE2* v1 = static_cast<const VertexSE2*>(_vertices[0]);
    const VertexSegment2D* l2 =
        static_cast<const VertexSegment2D*>(_vertices[1]);
    SE2 iEst = v1->estimate().inverse();
    Vector2 predP1 = iEst * l2->estimateP1();
    Vector2 predP2 = iEst * l2->estimateP2();
    Vector2 dP = predP2 - predP1;
    Vector2 normal(dP.y(), -dP.x());
    normal.normalize();
    Vector3 prediction;
    prediction[2] = std::atan2(normal.y(), normal.x());
    Eigen::Map<Vector2> pt(&prediction[0]);
    pt = (_pointNum == 0) ? predP1 : predP2;
    setMeasurement(prediction);
    return true;
  }

  virtual bool read(std::istream& is);
  virtual bool write(std::ostream& os) const;

 protected:
  int _pointNum;

  /* #ifndef NUMERIC_JACOBIAN_TWO_D_TYPES */
  /*       virtual void linearizeOplus(); */
  /* #endif */
};

/*   class G2O_TYPES_SLAM2D_ADDONS_API
 * EdgeSE2Segment2DPointLineWriteGnuplotAction: public WriteGnuplotAction { */
/*   public: */
/*     EdgeSE2Segment2DPointLineWriteGnuplotAction(); */
/*     virtual HyperGraphElementAction*
 * operator()(HyperGraph::HyperGraphElement* element,  */
/*             HyperGraphElementAction::Parameters* params_); */
/*   }; */

/* #ifdef G2O_HAVE_OPENGL */
/*   class G2O_TYPES_SLAM2D_ADDONS_API EdgeSE2Segment2DPointLineDrawAction:
 * public DrawAction{ */
/*   public: */
/*     EdgeSE2Segment2DPointLineDrawAction(); */
/*     virtual HyperGraphElementAction*
 * operator()(HyperGraph::HyperGraphElement* element,  */
/*             HyperGraphElementAction::Parameters* params_); */
/*   }; */
/* #endif */

}  // namespace g2o

#endif
